ROS2 Navigation Messages
GridCells
MapMetaData
nav_msgs.MapMetaData — occupancy-grid map metadata.
Stores the load time, resolution (metres/cell), grid dimensions, and origin pose of the map.
OccupancyGrid
nav_msgs.OccupancyGrid — 2-D occupancy grid map.
Each cell value is an int8 in range -1..100 (-1 = unknown,
0..100 = probability occupied). The raw bytes are accessible via
data (zero-copy).
data
property
data: BorrowedBuf
Zero-copy view of the raw int8 occupancy data (one byte per cell).
Odometry
nav_msgs.Odometry — robot pose + velocity with covariances and
a child_frame_id linking the body frame to the odom frame.
Path
nav_msgs.Path — an ordered sequence of PoseStamped waypoints.
Construct from a Header and an optional list of Pose objects
(all sharing the header's stamp/frame_id). For round-trip or
variable-stamp usage prefer from_cdr.
__getitem__
__getitem__(idx: int) -> Tuple[Time, str, Pose]
Random access to a single (stamp, frame_id, pose) tuple.
O(n) per call (variable-length elements are scanned sequentially); prefer iteration for a full traversal.
__iter__
__iter__() -> Iterator[Tuple[Time, str, Pose]]
Iterate (stamp, frame_id, pose) tuples in a single O(n) pass.
poses
poses() -> List[Tuple[Time, str, Pose]]
Return all poses as a list of (stamp, frame_id, pose) tuples.